//------------------------------------------------------------------------------
//  <copyright file="SharedBufferParams.cpp" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//  AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//  LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//  OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//  THE SOFTWARE.
//  </copyright>
//------------------------------------------------------------------------------	

#include "stdafx.h"
#include "SharedBufferParameters.h"

#include <KukaLBR4Definitions.h>

SharedBufferParameters::SharedBufferParameters()
{
	this->pWorkingRegistersExchange = new RegisterExchange<double>(
		KukaLBR4PlusWorkingRegisters::NumberOfWorkingRegisters,
		(unsigned int *)KukaLBR4PlusRegisterSizes);

	this->pAllRegistersExchange = new RegisterExchange<double>(
		KukaLBR4PlusFeedbackRegisters::NumberOfFeedbackRegisters + KukaLBR4PlusWorkingRegisters::NumberOfWorkingRegisters,
		(unsigned int *)KukaLBR4PlusRegisterSizes);

	unsigned int csmdSize = sizeof(ControllerStateMachineDescription);

	this->pCsmdExchange = new RegisterExchange<byte>(
		1,
		&csmdSize);

	this->pQuitSignal = new unsigned int;

	this->pCsmdStatusSignal = new unsigned int;

	this->pNewCsmdReadySignal = new unsigned int;
}

SharedBufferParameters::~SharedBufferParameters()
{
	delete this->pWorkingRegistersExchange;
	delete this->pAllRegistersExchange;
	delete this->pCsmdExchange;
	delete this->pQuitSignal;
	delete this->pCsmdStatusSignal;
	delete this->pNewCsmdReadySignal;
}


